@article{rlocterrainawareleggedlocomotionusing,
  title = {RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control},
  author = {Siddhant Gangapurwala and Mathieu Geisert and Romeo Orsolino and Maurice Fallon and Ioannis Havoutis},
  year = {2020},
  eprint = {2012.03094},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2012.03094v3},
}